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We present a dynamic optimal control method for autonomous trajectory planning and control of an Unmanned Ground Vehicle (UGV) using real-time information updates. The objective of the UGV is to traverse from an initial start point and reach its goal in minimum time, with maximum robustness, while avoiding both static and dynamic obstacles. This is achieved by deriving the control solution that carries out the initial planning problem while minimizing a cost and satisfying constraints based on the initial global knowledge of the area. To combat the problem of inaccurate global knowledge and a dynamic environment, the UGV uses its sensors to map the locally detected change in the environment and continuously updates its global map to re-compute a control solution that can achieve an optimal trajectory to the goal. Simulation results illustrate successful implementation of the method in various scenarios.

The paper addresses initial steps involved in the development and flight implementation of new metrics driven L1 adaptive flight control system. The work concentrates on (i) definition of appropriate control driven metrics ...

A dynamic subversion attack on the Windows XP Embedded operating system is demonstrated to raise awareness in developers and consumers of the risk of subversion in commercial operating systems that may be safety critical. ...

Motion planning and control of a Nomad 200 mobile robot are studied in this thesis. The objective is to develop a motion planning and control algorithm that is able to move the robot from an initial configuration (position ...